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85 lines
3.5 KiB
85 lines
3.5 KiB
/*************************************************************************** |
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* Copyright (C) 2008 by Luca Baronti * |
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* lbaronti@gmail.com * |
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* * |
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* This program is free software; you can redistribute it and/or modify * |
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* it under the terms of the GNU General Public License as published by * |
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* the Free Software Foundation; either version 2 of the License, or * |
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* (at your option) any later version. * |
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* * |
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* This program is distributed in the hope that it will be useful, * |
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* but WITHOUT ANY WARRANTY; without even the implied warranty of * |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * |
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* GNU General Public License for more details. * |
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* * |
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* You should have received a copy of the GNU General Public License * |
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* along with this program; if not, write to the * |
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* Free Software Foundation, Inc., * |
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* 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * |
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***************************************************************************/ |
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/*************************************************************************** |
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History |
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Modified by sottile on July 2009 |
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****************************************************************************/ |
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/** <b>Tsai Methods -- Interface with the tsai lib </b> |
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The class is static, so a simple call to <code>calibrate()</code> is |
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sufficient to get a calibrated shot.<br> |
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<i>Comment:</i><br> |
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Sometimes the Tsai Lib returns a irregular shifted translation values.<br> |
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Since now no solution found. |
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*/ |
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/****************************************************************************\ |
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* * |
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* Camera parameters are usually the fixed parameters of the given camera * |
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* system, typically obtained from manufacturers specifications. * |
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* * |
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* Cy and Cy (the center of radial lens distortion), may be calibrated * |
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* separately or as part of the coplanar/noncoplanar calibration. * |
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* The same with sx (x scale uncertainty factor). * |
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* * |
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\*******************************************************************************/ |
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#ifndef _TSAI_METHODS_ |
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#define _TSAI_METHODS_ |
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#include <vcg/math/matrix44.h> |
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#include <vcg/space/point3.h> |
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#include <vcg/space/point2.h> |
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#include <vcg/math/shot.h> |
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#include <list> |
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// minimum points that need tsai for a proper calibration |
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static const int MIN_POINTS_FOR_CALIBRATE = 13; |
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struct TsaiCorrelation { |
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vcg::Point3d point3d; |
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vcg::Point2d point2d; |
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}; |
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class TsaiMethods |
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{ |
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public: |
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//Calibration of the shot according to the 2D and 3D points |
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static bool calibrate( vcg::Shot<double>* shot,std::list<TsaiCorrelation>* corr, bool p_foc); /// send all the valid binded points of the image at the calibration lib, then set the intinsic param of the image |
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///Transformation of the camera data between tsai structure and vcg structure |
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static void Shot2Tsai(vcg::Shot<double>*); |
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///Transformation of the camera data between tsai structure and vcg structure |
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static void Tsai2Shot(vcg::Shot<double>*, bool p_foc=true); |
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private: |
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static void Cam2Tsai(vcg::Shot<double>*); |
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static bool createDataSet(std::list<TsaiCorrelation>* corr,vcg::Shot<double>* s); |
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}; |
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#endif //_TSAI_METHODS_
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